This paper presents a study to accurately evaluate defects in concrete decks using ultrasonic pulse-echo signals. A reinforced concrete deck with void defects was designed and evaluated for validation, and a commercial ultrasonic pulse-echo (UPE) device was used to obtain the 2D images of the void defect inside the deck. The UPE image is based on the ultrasonic shear-wave test method and an extended synthetic aperture focusing technique (SAFT). To enhance the accuracy of the defect location in the SAFT imaging, the recorded A-scan data from UPE was analyzed using an advanced denoising approach and defect echo peak extraction, which are based on empirical modal decomposition, Hurst exponent characterization, and Hilbert envelope estimation. The results demonstrated that the location and depth of the void defect in the deck can be accurately assessed by using the developed approach. The new method provides quantitative information of the anomalies inside the deck, which can be used to calibrate the qualitative images of UPC devices with the SAFT.